GB2596464A - Systems and methods for vehicle navigation - Google Patents

Systems and methods for vehicle navigation Download PDF

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Publication number
GB2596464A
GB2596464A GB2113499.4A GB202113499A GB2596464A GB 2596464 A GB2596464 A GB 2596464A GB 202113499 A GB202113499 A GB 202113499A GB 2596464 A GB2596464 A GB 2596464A
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GB
United Kingdom
Prior art keywords
vehicle
navigational information
host vehicle
map
navigational
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB2113499.4A
Other versions
GB2596464B (en
Inventor
Aviel Yuval
Nehushtan Nimrod
Goldman Yehonatan
Harel Eli
Fisher Amiel
Schwartz Maxim
Cohen Asaf
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mobileye Vision Technologies Ltd
Original Assignee
Mobileye Vision Technologies Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mobileye Vision Technologies Ltd filed Critical Mobileye Vision Technologies Ltd
Priority to GB2317058.2A priority Critical patent/GB2621499B/en
Publication of GB2596464A publication Critical patent/GB2596464A/en
Application granted granted Critical
Publication of GB2596464B publication Critical patent/GB2596464B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3476—Special cost functions, i.e. other than distance or default speed limit of road segments using point of interest [POI] information, e.g. a route passing visible POIs
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3885—Transmission of map data to client devices; Reception of map data by client devices
    • G01C21/3889—Transmission of selected map data, e.g. depending on route
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G01C21/32—Structuring or formatting of map data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3815—Road data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3837—Data obtained from a single source
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3859—Differential updating map data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/3867—Geometry of map features, e.g. shape points, polygons or for simplified maps
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/387—Organisation of map data, e.g. version management or database structures
    • G01C21/3881—Tile-based structures
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Geometry (AREA)
  • Databases & Information Systems (AREA)
  • Multimedia (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

System and method to send map data to a vehicle based on the potential travel envelope of the vehicle. The shape of the envelope is determined based on the speed, location and direction of travel of the vehicle

Claims (40)

WHAT IS CLAIMED IS:
1. A map management system for providing one or more map segments to one or more vehicles, the system comprising: at least one processor programmed to: receive navigational information from a vehicle, the navigational information including an indicator of a location of the vehicle, an indicator of a speed of the vehicle, and an indicator of a direction of travel of the vehicle; analyze the received navigational information and determine a potential travel envelope for the vehicle; and send to the vehicle one or more map segments including map information for a geographical region at least partially overlapping with the potential travel envelope of the vehicle.
2. The map management system of claim 1, wherein the potential travel envelope includes a determined area relative to the vehicle.
3. The map management system of claim 1, wherein the potential travel envelope includes a potential travel distance over a predetermined amount of time.
4. The map management system of claim 1, wherein the potential travel envelope extends from the location of the vehicle and surrounds the location of the vehicle.
5. The map management system of claim 4, wherein the potential travel envelope extends further along the direction of travel of the vehicle than in a direction opposite to the direction of travel of the vehicle.
6. The map management system of claim 1, wherein the potential travel envelope includes a boundary.
7. The map management system of claim 6, wherein the boundary has a substantially circular shape.
8. The map management system of claim 6, wherein the boundary has an egg shape.
9. The map management system of claim 6, wherein the boundary has a triangular shape.
10. The map management system of claim 6, wherein the boundary has an irregular shape.
11. The map management system of claim 6, wherein a location of a centroid of the boundary is offset from the location of the vehicle along the direction of travel of the vehicle.
12. The map management system of claim 1, wherein determining the potential travel envelope is further based on a selected time window.
13. The map management system of claim 12, wherein the time window is selected based on the indicator of the speed of the vehicle.
14. The map management system of claim 1, wherein the one or more map segments include one or more tiles representing a region of a predetermined dimension.
15. The map management system of claim 14, wherein the predetermined dimension is less than or equal to one square kilometer.
16. The map management system of claim 14, wherein the predetermined dimension is less than or equal to ten square kilometers.
17. The map management system of claim 14, wherein the predetermined dimension is less than or equal to twenty-five square kilometers.
18. The map management system of claim 1, wherein the map information includes a polynomial representation of a target trajectory along one or more road segments.
19. A computer-implemented method for providing one or more map segments to one or more vehicles, comprising: receiving navigational information from a vehicle, the navigational information including an indicator of a location of the vehicle, an indicator of a speed of the vehicle, and an indicator of a direction of travel of the vehicle; analyzing the received navigational information and detennine a potential travel envelope for the vehicle; and sending to the vehicle one or more map segments including map information for a geographical region at least partially overlapping with the potential travel envelope of the vehicle.
20. A non-transitory computer-readable medium storing instructions that, when executed by at least one processor, are configured to cause at least one processor to: receive navigational information from a vehicle, the navigational information including an indicator of a location of the vehicle, an indicator of a speed of the vehicle, and an indicator of a direction of travel of the vehicle; analyze the received navigational information and determine a potential travel envelope for the vehicle; and send to the vehicle one or more map segments including map information for a geographical region at least partially overlapping with the potential travel envelope of the vehicle.
21. A system for automatically generating a navigational map relative to one or more road segments, the system comprising: at least one processor programmed to: cause collection of first navigational information associated with an environment traversed by a host vehicle, wherein the first navigational information is associated with a first density level; determine, based on output associated with one, or more sensors of the host vehicle, a location of the host vehicle; determine whether the location of the host vehicle is at or within a predetermined distance from a geographical region of interest; cause, based on the determination that the location of the host vehicle is at or within the predetermined distance from the geographical region of interest, collection of second navigational information associated with the environment traversed by the host vehicle, wherein the second navigational information is associated with a second density level that is higher than the first density level; upload from the host vehicle at least one of the collected first navigational information or the collected second navigational information from the host vehicle; and update the navigational map based on the uploaded at least one of the collected first navigational information or the collected second navigational information.
22. The system of claim 21, wherein the at least one processor is further programmed to: upload from the host vehicle the collected second navigational information based on a determination of whether the host vehicle traveled within the geographical region of interest.
23. The system of claim 22, wherein the uploading includes receiving at least one of the collected first navigational information or the collected second navigational information via a transceiver associated with the host vehicle.
24. The system of claim 21, wherein the second navigational information is collected at a collection rate higher than a collection rate at which the first navigational information is collected.
25. The system of claim 21, wherein the second navigational information includes more categories of information than the first navigational information.
26. The system of claim 21, wherein the second density level is at least two times greater than the first density level.
27. The system of claim 21, wherein the second density level is at least five times greater than the first density level.
28. The system of claim 21, wherein the second density level is at least ten times greater than the first density level.
29. The system of claim 21 , wherein the at least one processor is further programmed to: determine whether the host vehicle traveled within the geographical region of interest; and cause the host vehicle to discard at least a portion of the second navigational information based on a determination that the host vehicle did not travel within the geographical region of interest.
30. The system of claim 28, wherein the determination of whether the host vehicle traveled within the geographical region of interest is made after determining that the host vehicle approached to within the predetermined distance to the geographical region of interest and then moved away to at least the predetermined distance away from the geographical region of interest.
31. The system of claim 21 , wherein the at least one processor is further configured to receive and store both the first navigational information and the second navigational information.
32. The system of claim 21, wherein the at least one processor is further configured to request transmission of a subset of the first navigational information or the second navigational information collected by the host vehicle.
33. The system of claim 21, wherein the one or more sensors include one or more of a speed sensor, an accelerometer, a camera, and a LIDAR device.
34. The system of claim 33, wherein the request includes at least one time stamp.
35. The system of claim 21, wherein the second navigational information is associated with an image collection rate from a camera onboard the host vehicle that is higher than an image collection rate associated with the first navigational information.
36. The system of claim 21, wherein the second navigational information is associated with an image resolution from a camera onboard the host vehicle that is higher than an image resolution associated with the first navigational information.
37. The system of claim 21, wherein the first navigational information or the second navigational information includes location information associated with one or more landmarks associated with the one or more road segments.
38. The system of claim 21, wherein the first navigational information or the second navigational information includes location information associated with one or more road features associated with the one or more road segments.
39. The system of claim 21, wherein the location of the host vehicle is determined at predetermined time intervals.
40. A computer-implemented method for automatically generating a navigational map relative to one or more road segments, comprising: causing collection of first navigational information associated with an environment traversed by a host vehicle, wherein the first navigational infonnation is associated with a first density level; determining, based on output associated with one or more sensors of the host vehicle, a location of the host vehicle; determining whether the location of the host vehicle is at or within a predetermined distance from a geographical region of interest; causing, based on the determination that the location of the host vehicle is at or within the predetermined distance from the geographical region of interest, collection of second navigational information associated with the environment traversed by the host vehicle, wherein the second navigational information is associated with a second density level that is higher than the first density level; uploading from the host vehicle at least one of the collected first navigational information or the collected second navigational information from the host vehicle; and updating the navigational map based on the uploaded at least one of the collected first navigational information or the collected second navigational information.
GB2113499.4A 2019-02-25 2020-02-25 Systems and methods for vehicle navigation Active GB2596464B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB2317058.2A GB2621499B (en) 2019-02-25 2020-02-25 Systems and methods for vehicle navigation

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
US201962810032P 2019-02-25 2019-02-25
US202062957028P 2020-01-03 2020-01-03
US202062957017P 2020-01-03 2020-01-03
US202062957019P 2020-01-03 2020-01-03
US202062956993P 2020-01-03 2020-01-03
US202062956997P 2020-01-03 2020-01-03
PCT/IB2020/000152 WO2020174279A2 (en) 2019-02-25 2020-02-25 Systems and methods for vehicle navigation

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GB2596464A true GB2596464A (en) 2021-12-29
GB2596464B GB2596464B (en) 2024-05-01

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US (2) US20210381848A1 (en)
CN (1) CN113490835A (en)
DE (1) DE112020000925T5 (en)
GB (2) GB2596464B (en)
WO (1) WO2020174279A2 (en)

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Publication number Publication date
GB2596464B (en) 2024-05-01
GB202317058D0 (en) 2023-12-20
US20210381848A1 (en) 2021-12-09
US20210381849A1 (en) 2021-12-09
GB2621499B (en) 2024-05-08
DE112020000925T5 (en) 2021-11-04
WO2020174279A2 (en) 2020-09-03
CN113490835A (en) 2021-10-08
WO2020174279A3 (en) 2020-10-22
GB2621499A (en) 2024-02-14

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